Mercurial > public > ostc4
view Small_CPU/Src/pressure.c @ 560:5d80bb8d22cb
Added O2 sensor source and calibration parameters to setting structure
author | Ideenmodellierer |
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date | Sun, 15 Nov 2020 19:53:09 +0100 |
parents | 666cafac87ab |
children | 4644891d2f51 |
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/** ****************************************************************************** * @file pressure.c * @author heinrichs weikamp gmbh * @date 2014 * @version V0.0.2 * @since 20-Oct-2016 * @brief * @verbatim ============================================================================== ##### How to use ##### ============================================================================== V0.0.2 18-Oct-2016 pressure_calculation_AN520_004_mod_MS5803_30BA__09_2015 @endverbatim ****************************************************************************** * @attention * * <h2><center>© COPYRIGHT(c) 2016 heinrichs weikamp</center></h2> * ****************************************************************************** */ /* surface time the last 30 minutes will be saved once per minute in a endless loop at the beginning of a dive the oldest value will be used */ #include "math.h" #include "scheduler.h" #include "pressure.h" #include "i2c.h" #include "rtc.h" #define CMD_RESET 0x1E // ADC reset command #define CMD_ADC_READ 0x00 // ADC read command #define CMD_ADC_CONV 0x40 // ADC conversion command #define CMD_ADC_D1 0x00 // ADC D1 conversion #define CMD_ADC_D2 0x10 // ADC D2 conversion #define CMD_ADC_256 0x00 // ADC OSR=256 #define CMD_ADC_512 0x02 // ADC OSR=512 #define CMD_ADC_1024 0x04 // ADC OSR=1024 #define CMD_ADC_2048 0x06 // ADC OSR=2056 #define CMD_ADC_4096 0x08 // ADC OSR=4096 #define CMD_PROM_RD 0xA0 // Prom read command /* remove comment to use a predefined profile for pressure changes instead of real world data */ /* #define SIMULATE_PRESSURE */ #define PRESSURE_SURFACE_MAX_MBAR (1060.0f) /* It is unlikely that pressure at surface is greater than this value => clip to it */ #define PRESSURE_SURFACE_QUE (30u) /* history buffer [minutes] for past pressure measurements */ #define PRESSURE_SURFACE_EVA_WINDOW (15u) /* Number of entries evaluated during instability test. Used to avoid detection while dive enters water */ #define PRESSURE_SURFACE_STABLE_LIMIT (10u) /* Define pressure as stable if delta (mBar) is below this value */ #define PRESSURE_SURFACE_DETECT_STABLE_CNT (5u) /* Event count to detect stable condition */ #define PRESSURE_SURFACE_UNSTABLE_LIMIT (50u) /* Define pressure as not stable if delta (mBar) is larger than this value */ #define PRESSURE_SURFACE_DETECT_UNSTABLE_CNT (3u) /* Event count to detect unstable condition */ static uint8_t PRESSURE_ADDRESS = DEVICE_PRESSURE_MS5803; /* Default Address */ static uint16_t get_ci_by_coef_num(uint8_t coef_num); //void pressure_calculation_new(void); //void pressure_calculation_old(void); static void pressure_calculation_AN520_004_mod_MS5803_30BA__09_2015(void); //static uint8_t crc4(uint16_t n_prom[]); static HAL_StatusTypeDef pressure_sensor_get_data(void); static uint32_t get_adc(void); uint8_t pressureSensorInitSuccess = 0; static uint16_t C[8] = { 1 }; static uint32_t D1 = 1; static uint32_t D2 = 1; //static uint8_t n_crc; static int64_t C5_x_2p8 = 1; static int64_t C2_x_2p16 = 1; static int64_t C1_x_2p15 = 1; /* short C2plus10000 = -1; short C3plus200 = -1; short C4minus250 = -1; short UT1 = -1; short C6plus100 = -1; */ static float pressure_offset = 0.0; /* Offset value which may be specified by the user via PC Software */ static float temperature_offset = 0.0; /* Offset value which may be specified by the user via PC Software */ static float ambient_temperature = 0; static float ambient_pressure_mbar = 1000.0; static float surface_pressure_mbar = 1000.0; static float surface_ring_mbar[PRESSURE_SURFACE_QUE] = { 0 }; static uint8_t surface_pressure_writeIndex = 0; static float surface_pressure_stable_value = 0; static uint8_t surface_pressure_stable = 0; static uint8_t secondCounterSurfaceRing = 0; static uint8_t avgCount = 0; static float runningAvg = 0; float get_temperature(void) { return ambient_temperature; } float get_pressure_mbar(void) { return ambient_pressure_mbar; } float get_surface_mbar(void) { return surface_pressure_mbar; } void init_surface_ring(uint8_t force) { if((surface_ring_mbar[0] == 0) || (force)) /* only initialize once. Keep value in place in case of an i2c recovery */ { secondCounterSurfaceRing = 0; /* restart calculation */ avgCount = 0; runningAvg = 0; for(int i=0; i<PRESSURE_SURFACE_QUE; i++) surface_ring_mbar[i] = ambient_pressure_mbar; surface_pressure_mbar = ambient_pressure_mbar; surface_pressure_writeIndex = 0; /* index of the oldest value in the ring buffer */ } } uint8_t is_surface_pressure_stable(void) { return surface_pressure_stable; } float set_last_surface_pressure_stable(void) { surface_pressure_mbar = surface_pressure_stable_value; return surface_pressure_stable_value; } /* iterate backward through the history memory and evaluate the changes pressure changes during the last 30 minutes */ void evaluate_surface_pressure() { uint8_t index; float lastvalue; uint8_t stablecnt = 0; uint8_t unstablecnt = 0; uint8_t EvaluationWindow = PRESSURE_SURFACE_QUE - PRESSURE_SURFACE_EVA_WINDOW; /* do not use the latest 15 values to avoid unstable condition due to something like fin handling */ uint8_t EvaluatedValues = 0; lastvalue = surface_ring_mbar[surface_pressure_writeIndex]; surface_pressure_stable_value = surface_ring_mbar[surface_pressure_writeIndex]; /* default: if no stable value is found return the oldest value */ index = surface_pressure_writeIndex; surface_pressure_stable = 1; if(index == 0) { index = PRESSURE_SURFACE_QUE - 1; } else { index = index - 1; } do { if((EvaluatedValues < EvaluationWindow) && (fabs(surface_pressure_stable_value - surface_ring_mbar[index]) > PRESSURE_SURFACE_UNSTABLE_LIMIT)) /* unusual change during last 30 minutes */ { unstablecnt++; if(unstablecnt > PRESSURE_SURFACE_DETECT_UNSTABLE_CNT) { surface_pressure_stable = 0; } } /* search for a value which does not change for several iterations */ if (fabs(lastvalue - surface_ring_mbar[index]) < PRESSURE_SURFACE_STABLE_LIMIT) { stablecnt++; } else { stablecnt = 0; } if ((stablecnt >= PRESSURE_SURFACE_DETECT_STABLE_CNT) && (surface_pressure_stable == 0)&&(surface_pressure_stable_value == surface_ring_mbar[surface_pressure_writeIndex])) /* pressure is unstable => search for new stable value */ { surface_pressure_stable_value = surface_ring_mbar[index]; unstablecnt = 0; } lastvalue = surface_ring_mbar[index]; if(index == 0) { index = PRESSURE_SURFACE_QUE - 1; } else { index = index - 1; } EvaluatedValues++; } while (index != surface_pressure_writeIndex); } void update_surface_pressure(uint8_t call_rhythm_seconds) { if(is_init_pressure_done()) { runningAvg = (runningAvg * avgCount + ambient_pressure_mbar) / (avgCount +1); avgCount++; secondCounterSurfaceRing += call_rhythm_seconds; if(secondCounterSurfaceRing >= 60) { if(runningAvg < PRESSURE_SURFACE_MAX_MBAR) { surface_ring_mbar[surface_pressure_writeIndex] = runningAvg; } else { surface_ring_mbar[surface_pressure_writeIndex] = PRESSURE_SURFACE_MAX_MBAR; } surface_pressure_writeIndex++; /* the write index is now pointing to the oldest value in the buffer which will be overwritten next time */ if(surface_pressure_writeIndex == PRESSURE_SURFACE_QUE) { surface_pressure_writeIndex = 0; } surface_pressure_mbar = surface_ring_mbar[surface_pressure_writeIndex]; /* 30 minutes old measurement */ secondCounterSurfaceRing = 0; avgCount = 1; /* use the current value as starting point but restart the weight decrement of the measurements */ } evaluate_surface_pressure(); } } #ifdef DEMOMODE float demo_modify_temperature_helper(float bottom_mbar_diff_to_surface) { const float temperature_surface = 31.0; const float temperature_bottom = 14.0; const float temperature_difference = temperature_bottom - temperature_surface; // range 0.0 - 1.0 float position_now = (ambient_pressure_mbar - surface_pressure_mbar) / bottom_mbar_diff_to_surface; if(position_now <= 0) return temperature_surface; if(position_now >= 1) return temperature_bottom; return temperature_surface + (temperature_difference * position_now); } uint32_t demo_modify_temperature_and_pressure(int32_t divetime_in_seconds, uint8_t subseconds, float ceiling_mbar) { const float descent_rate = 4000/60; const float ascent_rate = 1000/60; const uint32_t seconds_descend = (1 * 60) + 30; const uint32_t turbo_seconds_at_bottom_start = (0 * 60) + 0; const uint32_t seconds_descend_and_bottomtime = seconds_descend + turbo_seconds_at_bottom_start + (2 * 60) + 0; uint32_t time_elapsed_in_seconds; static float ambient_pressure_mbar_memory = 0; static uint32_t time_last_call = 0; if(divetime_in_seconds <= seconds_descend) { ambient_pressure_mbar = (divetime_in_seconds * descent_rate) + ((float)(subseconds) * descent_rate) + surface_pressure_mbar; ambient_temperature = demo_modify_temperature_helper(descent_rate * seconds_descend); time_last_call = divetime_in_seconds; return 0; } else if(divetime_in_seconds <= seconds_descend + turbo_seconds_at_bottom_start) { ambient_pressure_mbar = (seconds_descend * descent_rate) + surface_pressure_mbar; ambient_temperature = demo_modify_temperature_helper(descent_rate * seconds_descend); ambient_pressure_mbar_memory = ambient_pressure_mbar; time_last_call = divetime_in_seconds; return turbo_seconds_at_bottom_start; } else if(divetime_in_seconds <= seconds_descend_and_bottomtime) { ambient_pressure_mbar = (seconds_descend * descent_rate) + surface_pressure_mbar; ambient_temperature = demo_modify_temperature_helper(descent_rate * seconds_descend); ambient_pressure_mbar_memory = ambient_pressure_mbar; time_last_call = divetime_in_seconds; return 0; } else { time_elapsed_in_seconds = divetime_in_seconds - time_last_call; ambient_pressure_mbar = ambient_pressure_mbar_memory - time_elapsed_in_seconds * ascent_rate; if(ambient_pressure_mbar < surface_pressure_mbar) ambient_pressure_mbar = surface_pressure_mbar; else if(ambient_pressure_mbar < ceiling_mbar) ambient_pressure_mbar = ceiling_mbar; ambient_temperature = demo_modify_temperature_helper(descent_rate * seconds_descend); ambient_pressure_mbar_memory = ambient_pressure_mbar; time_last_call = divetime_in_seconds; return 0; } } #endif uint8_t is_init_pressure_done(void) { return pressureSensorInitSuccess; } uint8_t init_pressure(void) { uint8_t buffer[1]; buffer[0] = 0x1E; // Reset Command uint8_t retValue = 0xFF; pressureSensorInitSuccess = false; /* Probe new sensor first */ retValue = I2C_Master_Transmit( DEVICE_PRESSURE_MS5837, buffer, 1); if(retValue != HAL_OK) { PRESSURE_ADDRESS = DEVICE_PRESSURE_MS5803; // use old sensor HAL_Delay(100); I2C_DeInit(); HAL_Delay(100); MX_I2C1_Init(); HAL_Delay(100); } else { PRESSURE_ADDRESS = DEVICE_PRESSURE_MS5837; // Success, use new sensor } HAL_Delay(3); //2.8ms according to datasheet buffer[0] = 0x1E; // Reset Command retValue = 0xFF; /* Send reset request to pressure sensor */ retValue = I2C_Master_Transmit( PRESSURE_ADDRESS, buffer, 1); if(retValue != HAL_OK) { return (HAL_StatusTypeDef)retValue; } HAL_Delay(3); //2.8ms according to datasheet for(uint8_t i=0;i<7;i++) { C[i] = get_ci_by_coef_num(i); } // n_crc = crc4(C); // no evaluation at the moment hw 151026 C5_x_2p8 = C[5] * 256; C2_x_2p16 = C[2] * 65536; C1_x_2p15 = C[1] * 32768; if(global.I2C_SystemStatus == HAL_OK) { pressureSensorInitSuccess = 1; retValue = pressure_update(); } return retValue; } static uint32_t get_adc(void) { uint8_t buffer[1]; uint8_t resivebuf[4]; uint32_t answer = 0xFFFFFFFF; buffer[0] = 0x00; // Get ADC if(I2C_Master_Transmit( PRESSURE_ADDRESS, buffer, 1) == HAL_OK) { if(I2C_Master_Receive( PRESSURE_ADDRESS, resivebuf, 4) == HAL_OK) { resivebuf[3] = 0; answer = 256*256 *(uint32_t)resivebuf[0] + 256 * (uint32_t)resivebuf[1] + (uint32_t)resivebuf[2]; } } return answer; } static uint16_t get_ci_by_coef_num(uint8_t coef_num) { uint8_t resivebuf[2]; uint8_t cmd = CMD_PROM_RD+coef_num*2; I2C_Master_Transmit( PRESSURE_ADDRESS, &cmd, 1); I2C_Master_Receive( PRESSURE_ADDRESS, resivebuf, 2); return (256*(uint16_t)resivebuf[0]) + (uint16_t)resivebuf[1]; } uint8_t pressure_update(void) { HAL_StatusTypeDef statusReturn = HAL_TIMEOUT; statusReturn = pressure_sensor_get_data(); pressure_calculation(); return (uint8_t)statusReturn; } /* Switch between pressure and temperature measurement with every successful read operation */ void pressure_update_alternating(void) { static uint8_t getTemperature= 0; if(getTemperature) { if(pressure_sensor_get_temperature_raw() == HAL_OK) { getTemperature = 0; } } else { if(pressure_sensor_get_pressure_raw() == HAL_OK) { getTemperature = 1; } } pressure_calculation(); return; } static uint32_t pressure_sensor_get_one_value(uint8_t cmd, HAL_StatusTypeDef *statusReturn) { uint8_t command = CMD_ADC_CONV + cmd; uint32_t adcValue = 0; HAL_StatusTypeDef statusReturnTemp = HAL_TIMEOUT; statusReturnTemp = I2C_Master_Transmit( PRESSURE_ADDRESS, &command, 1); if(statusReturn) { *statusReturn = statusReturnTemp; } switch (cmd & 0x0f) // wait necessary conversion time { case CMD_ADC_256 : HAL_Delay(2); break; case CMD_ADC_512 : HAL_Delay(4); break; case CMD_ADC_1024: HAL_Delay(5); break; case CMD_ADC_2048: HAL_Delay(7); break; case CMD_ADC_4096: HAL_Delay(11); break; default: break; } adcValue = get_adc(); /* if(adcValue == 0xFFFFFFFF) { if(statusReturn) { *statusReturn = HAL_ERROR; } }*/ return adcValue; } static HAL_StatusTypeDef pressure_sensor_get_data(void) { uint32_t requestedValue = 0; HAL_StatusTypeDef statusReturn1 = HAL_TIMEOUT; HAL_StatusTypeDef statusReturn2 = HAL_TIMEOUT; requestedValue = pressure_sensor_get_one_value(CMD_ADC_D2 + CMD_ADC_4096, &statusReturn2); if (statusReturn2 == HAL_OK) { D2 = requestedValue; } requestedValue = pressure_sensor_get_one_value(CMD_ADC_D1 + CMD_ADC_4096, &statusReturn1); if (statusReturn1 == HAL_OK) { D1 = requestedValue; } if(statusReturn2 > statusReturn1) // if anything is not HAL_OK (0x00) or worse return statusReturn2; else return statusReturn1; } HAL_StatusTypeDef pressure_sensor_get_pressure_raw(void) { uint32_t requestedValue = 0; HAL_StatusTypeDef statusReturn = HAL_TIMEOUT; requestedValue = pressure_sensor_get_one_value(CMD_ADC_D1 + CMD_ADC_4096, &statusReturn); if (statusReturn == HAL_OK) { D1 = requestedValue; } return statusReturn; } HAL_StatusTypeDef pressure_sensor_get_temperature_raw(void) { uint32_t requestedValue = 0; HAL_StatusTypeDef statusReturn = HAL_TIMEOUT; requestedValue = pressure_sensor_get_one_value(CMD_ADC_D2 + CMD_ADC_4096, &statusReturn); if (statusReturn == HAL_OK) { D2 = requestedValue; } return statusReturn; } #ifdef SIMULATE_PRESSURE void pressure_simulation() { static uint32_t tickstart = 0; static float pressure_sim_mbar = 0; static uint32_t passedSecond = 0; static uint32_t secondtick = 0; uint32_t lasttick = 0; if( tickstart == 0) { tickstart = HAL_GetTick(); /* init time stamp */ secondtick = tickstart; pressure_sim_mbar = 1000; } lasttick = HAL_GetTick(); if(time_elapsed_ms(secondtick,lasttick) > 1000) /* one second passed since last tick */ { secondtick = lasttick; passedSecond++; #ifdef DIVE_AFTER_LANDING if(passedSecond < 10) pressure_sim_mbar = 1000.0; /* stay stable for 10 seconds */ else if(passedSecond < 300) pressure_sim_mbar -= 1.0; /* decrease pressure in 5 minutes target 770mbar => delta 330 */ else if(passedSecond < 900) pressure_sim_mbar += 0.0; /*stay stable 10 minutes*/ else if(passedSecond < 1500) pressure_sim_mbar += 0.5; /* return to 1 bar in 10 Minutes*/ else if(passedSecond < 1800) pressure_sim_mbar += 0.0; /* 5 minutes break */ else if(passedSecond < 2000) pressure_sim_mbar += 10.0; /* start dive */ else if(passedSecond < 2300) pressure_sim_mbar += 0.0; /* stay on depth */ else if(passedSecond < 2500) pressure_sim_mbar -= 10.0; /* return to surface */ else pressure_sim_mbar = 1000.0; /* final state */ #else /* short dive */ if(passedSecond < 10) pressure_sim_mbar = 1000.0; /* stay stable for 10 seconds */ else if(passedSecond < 180) pressure_sim_mbar += 10.0; /* Start dive */ else if(passedSecond < 300) pressure_sim_mbar += 0.0; /*stay on depth*/ else if(passedSecond < 460) pressure_sim_mbar -= 10.0; /* return to surface */ else if(passedSecond < 600) pressure_sim_mbar += 0.0; /* stay */ else if(passedSecond < 610) pressure_sim_mbar = 1000.0; /* get ready for second dive */ else if(passedSecond < 780) pressure_sim_mbar += 10.0; /* Start dive */ else if(passedSecond < 900) pressure_sim_mbar += 0.0; /*stay on depth*/ else if(passedSecond < 1060) pressure_sim_mbar -= 10.0; /* return to surface */ else if(passedSecond < 1200) pressure_sim_mbar += 0.0; /* stay */ else pressure_sim_mbar = 1000.0; /* final state */ #endif } ambient_pressure_mbar = pressure_sim_mbar; ambient_temperature = 25.0; return; } #endif void pressure_calculation(void) { if(global.I2C_SystemStatus != HAL_OK) return; #ifdef SIMULATE_PRESSURE pressure_simulation(); #else pressure_calculation_AN520_004_mod_MS5803_30BA__09_2015(); #endif } static void pressure_calculation_AN520_004_mod_MS5803_30BA__09_2015(void) { static float runningAvg = 0; static uint8_t avgCnt = 0; uint32_t local_D1; // ADC value of the pressure conversion uint32_t local_D2; // ADC value of the temperature conversion int32_t local_Px10; // compensated pressure value int32_t local_Tx100; // compensated temperature value int64_t local_dT; // int32_t, difference between actual and measured temperature int64_t local_OFF; // offset at actual temperature int64_t local_SENS; // sensitivity at actual temperature float calc_pressure; int64_t T2; int64_t OFF2; int64_t SENS2; local_D1 = D1; local_D2 = D2; local_dT = ((int64_t)local_D2) - ((int64_t)C[5]) * 256; //pow(2,8); local_OFF = ((int64_t)C[2]) * 65536 + local_dT * ((int64_t)C[4]) / 128; // pow(2,16), pow(2,7) local_SENS = ((int64_t)C[1]) * 32768 + local_dT * ((int64_t)C[3]) / 256; // pow(2,15), pow(2,8) local_Tx100 = (int32_t)(2000 + (local_dT * ((int64_t)C[6])) / 8388608);// pow(2,23) if(local_Tx100 < 2000) // low temperature { T2 = 3 * local_dT; T2 *= local_dT; T2 /= 8589934592; OFF2 = ((int64_t)local_Tx100) - 2000; OFF2 *= OFF2; OFF2 *= 3; OFF2 /= 2; SENS2 = ((int64_t)local_Tx100) - 2000; SENS2 *= SENS2; SENS2 *= 5; SENS2 /= 8; local_Tx100 -= (int32_t)T2; local_OFF -= OFF2; local_SENS -= SENS2; } else { T2 = 7 * local_dT; T2 *= local_dT; T2 /= 137438953472; OFF2 = ((int64_t)local_Tx100) - 2000; OFF2 *= OFF2; OFF2 /= 16; local_Tx100 -= (int32_t)T2; local_OFF -= OFF2; } local_Px10 = (int32_t)( (((int64_t)((local_D1 * local_SENS) / 2097152)) - local_OFF) / 8192 );// )) / 10; // pow(2,21), pow(2,13) ambient_temperature = ((float)local_Tx100) / 100; ambient_temperature += temperature_offset; calc_pressure = ((float)local_Px10) / 10; calc_pressure += pressure_offset; runningAvg = (avgCnt * runningAvg + calc_pressure) / (avgCnt + 1); if (avgCnt < 10) /* build an average considering the last measurements to have a weight "1 of 10" */ { /* Main reason for this is the jitter of up to +-10 HPa in surface mode which is caused */ avgCnt++; /* by the measurement range of the sensor which is focused on under water pressure measurement */ } ambient_pressure_mbar = runningAvg; } /* taken from AN520 by meas-spec.com dated 9. Aug. 2011 * short and int are both 16bit according to AVR/GCC google results */ /*static uint8_t crc4(uint16_t n_prom[]) { uint16_t cnt; // simple counter uint16_t n_rem; // crc reminder uint16_t crc_read; // original value of the crc uint8_t n_bit; n_rem = 0x00; crc_read=n_prom[7]; //save read CRC n_prom[7]=(0xFF00 & (n_prom[7])); //CRC byte is replaced by 0 for (cnt = 0; cnt < 16; cnt++) // operation is performed on bytes { // choose LSB or MSB if (cnt%2==1) n_rem ^= (uint16_t) ((n_prom[cnt>>1]) & 0x00FF); else n_rem ^= (uint16_t) (n_prom[cnt>>1]>>8); for (n_bit = 8; n_bit > 0; n_bit--) { if (n_rem & (0x8000)) { n_rem = (n_rem << 1) ^ 0x3000; } else { n_rem = (n_rem << 1); } } } n_rem= (0x000F & (n_rem >> 12)); // // final 4-bit reminder is CRC code n_prom[7]=crc_read; // restore the crc_read to its original place return (n_rem ^ 0x00); } void test_calculation(void) { C1 = 29112; C2 = 26814; C3 = 19125; C4 = 17865; C5 = 32057; C6 = 31305; C2_x_2p16 = C2 * 65536; C1_x_2p15 = C1 * 32768; D1 = 4944364; D2 = 8198974; pressure_calculation() ; }; */ void pressure_set_offset (float pressureOffset, float temperatureOffset) { if(pressure_offset != pressureOffset) /* we received a new value => reinit surface que */ { ambient_pressure_mbar -= pressure_offset; /* revert old value */ ambient_pressure_mbar += pressureOffset; /* apply new offset */ init_surface_ring(1); } pressure_offset = pressureOffset; temperature_offset = temperatureOffset; }